this is a test project , use rgbd camera build a 3D Dense pointcloud map then make use of octomap to get a compressed 3D map
we can project to 2d costmap to navigation for robot
example:
forked from xiaoxifuhongse/ORB-SLAM-RGBD-with-Octomap
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Ewenwan/ORB-SLAM-RGBD-with-Octomap
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